mend

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -2,7 +2,7 @@
 use esp_hal::{
     delay::Delay,
     gpio::Level,
-    rmt::{PulseCode, Tx,Rx,TxChannelCreator,Channel},
+    rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
 };
 use num_traits::float::FloatCore;
 
@@ -112,19 +112,18 @@ impl DShotSpeed {
 }
 
 #[allow(dead_code)]
-#[derive(Debug, Clone)]
+#[derive(Debug)]
 pub struct DShot<'a> {
-    rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
-    tx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
+    rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
+    tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
     speed: DShotSpeed,
     bit_ticks: BitTicks,
 }
 
- 
 impl<'a> DShot<'a> {
     pub fn new(
-        rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
-        tx_channel: &'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
+        rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
+        tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
         speed: DShotSpeed,
         clk_speed: Option<u32>,
         clk_divider: Option<u8>,
@@ -134,7 +133,8 @@ impl<'a> DShot<'a> {
 
         let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed.bit_times());
         Self {
-           rx_channel: rx_channel,tx_channel: tx_channel,
+            rx_channel: rx_channel,
+            tx_channel: tx_channel,
             speed,
             bit_ticks,
         }
@@ -166,14 +166,16 @@ impl<'a> DShot<'a> {
                     self.bit_ticks.t1_h,
                     Level::Low,
                     self.bit_ticks.t1_l,
-                ).into()
+                )
+                .into()
             } else {
                 PulseCode::new(
                     Level::High,
                     self.bit_ticks.t0_h,
                     Level::Low,
                     self.bit_ticks.t0_l,
-                ).into()
+                )
+                .into()
             };
         }
 
@@ -182,15 +184,15 @@ impl<'a> DShot<'a> {
         pulses
     }
 
-    pub fn write_throttle(
-        &mut self,
-        throttle: u16,
-        telemetry: bool,
-    ) -> Result<(), &'static str> {
+    pub fn write_throttle(&mut self, throttle: u16, telemetry: bool) -> Result<(), &'static str> {
         let pulses = self.create_pulses(throttle, telemetry);
-        self.channel
+        let tx_chann = self.tx_channel.reborrow();
+        let transaction = tx_chann
             .transmit(&pulses)
-            .map_err(|_| "Failed to send frame")?;
+            .unwrap_or(return Err("Failed to send frame"))
+            .wait()
+            .unwrap_or(return Err("Waiting failed!"));
+
         Ok(())
     }
 

spinnyboy_rust/src/bin/main.rs

@@ -7,7 +7,7 @@
 )]
 use core::fmt::Write;
 use alloc::string::ToString;
-use esp_hal::uart::{self, Config, Uart};
+use esp_hal::uart::{Config, Uart};
 
 use esp_hal::clock::CpuClock;
 use esp_hal::delay::Delay;
@@ -171,7 +171,6 @@ fn main() -> ! {
     //     pwm_pin.set_timestamp(1000);
     //     Timer::after_millis(1000).await;
     // }
-
     loop {
         rprintln!("Hello world!");
         delay.delay_millis(3000);